Belt tracking using two edge sensors

Methods and devices detect a first lateral measure of an edge of a belt loop supported by rollers within an apparatus using a first sensor to find an amount of misalignment of the edge of the belt loop relative to a known alignment position. The first sensor is positioned at a first location within the apparatus. The methods and devices also detect a second lateral measure of the edge of the belt loop within the apparatus relative to the known alignment position using a second sensor. The second sensor is positioned at a second location within the apparatus that is different than the first location. The methods and devices use a processor to determine the non-linear shape of the edge of the belt loop based on the second lateral measure of the edge of the belt loop detected by the second sensor. The methods and devices correct the amount of misalignment detected by the first sensor based on the non-linear shape of the edge of the belt loop to generate a corrected misalignment value, using the processor. Further, the method and devices adjust the current lateral position of the belt loop within the apparatus relative to the known alignment position based on the corrected misalignment value using a belt tracking actuator that is operatively connected to the processor.